control system

Abstract

In information systems that generate magnetic fields, this technology suppresses malfunctions caused by the overlap of different magnetic fields. [Solution] The control system of the present disclosure comprises a response unit, a plurality of intrusion detection units, a detection control unit, and an operation limiting unit. The response unit outputs a response signal in response to being placed in a magnetic field area. The plurality of intrusion detection units generate a magnetic field area and detect the intrusion of the response units into the magnetic field area in response to receiving the response signals of the response units placed in the magnetic field area. The operation limiting unit restricts at least some of the multiple types of mechanical operations of the construction machine in response to the detection of the intrusion of the response units by the intrusion detection units. The detection control unit sets the operating state of each of the plurality of intrusion detection units to either an ON state or an OFF state, depending on the type of mechanical operation being performed by the construction machine.

Description

Technical Field

[0001] This disclosure relates to a control system.

Background Art

[0002] As a technology for ensuring the safety of workers working near construction machinery, a control system has been proposed. For example, the control system described in Patent Document 1 is a worker approach notification system (10) configured to detect a worker using a magnetic field generated by four magnetic field generating devices. This control system detects a worker by transmitting and receiving information between an RFID tag (40) carried by the worker and a tag information receiving device (22).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above-described information system, since the four magnetic field generating devices are always configured to generate a magnetic field, there is a case where a magnetic field generated by a certain magnetic field generating device overlaps with a magnetic field generated by another magnetic field generating device, leading to malfunction. Therefore, in one aspect of this disclosure, it is desirable to be able to suppress malfunction due to overlap between different magnetic fields in an information system configured to generate a magnetic field.

Means for Solving the Problems

[0005] A control system according to one aspect of this disclosure includes a response unit, a plurality of intrusion detection units, a detection control unit, and an operation restriction unit. The response unit is configured to output a response signal in response to being disposed in a magnetic field region.

[0006] Multiple intrusion detection units are configured to generate a magnetic field region for detecting a response unit. The multiple intrusion detection units are configured to detect the intrusion of a response unit into the magnetic field region in response to receiving a response signal from the response unit located within the magnetic field region. These multiple intrusion detection units are installed on construction machinery that performs multiple types of mechanical operations.

[0007] The detection control unit is configured to set the operating state of each of the multiple intrusion detection units to either an ON state or an OFF state. The ON state corresponds to an operating state in which the intrusion detection unit can detect intrusion by the response unit. The OFF state corresponds to an operating state in which the intrusion detection unit does not detect intrusion by the response unit.

[0008] The operation limiting unit is configured to limit at least some of the various types of machine operations in a construction machine in response to at least one of the multiple intrusion detection units detecting intrusion into the response unit.

[0009] Multiple intrusion detection units are installed in different parts of the construction machinery. The detection control unit sets the operating state of each of the multiple intrusion detection units to either the ON state or the OFF state, depending on the type of machine operation being performed by the construction machine.

[0010] This control system, in detecting the presence or absence of a response unit that has entered a magnetic field, does not set all of the multiple intrusion detection units to the ON state at once. Instead, it sets the operating state of each of the multiple intrusion detection units to either the ON or OFF state depending on the type of mechanical operation being performed by the construction machine. Such a control system can create a magnetic field at the necessary locations around the construction machine, depending on the type of mechanical operation.

[0011] In other words, the control system can create magnetic field regions in appropriate locations by not generating magnetic field regions in locations where detection by the response unit is not necessary, and generating magnetic field regions in locations where detection by the response unit is necessary, depending on the type of mechanical operation being performed by the construction machine.

[0012] Therefore, this control system can appropriately detect the response unit by suppressing false detections in the intrusion detection unit that is ON among the multiple intrusion detection units, depending on the type of mechanical operation being performed by the construction machine (in other words, false detections due to the overlap of different magnetic fields in adjacent magnetic field regions). [Brief explanation of the drawing]

[0013] [Figure 1] This is an explanatory diagram showing the schematic configuration of the field work system of the embodiment. [Figure 2] This is a functional block diagram of a control system included in construction machinery, portable response devices, and long-range response devices. [Figure 3] This is an explanatory diagram showing the configuration of an electromagnetic valve control unit. [Figure 4] This is an explanatory diagram showing the detection area when construction machinery is viewed from above. [Figure 5] This is an explanatory diagram illustrating the operating states of multiple intrusion detection units during right and left turns. [Figure 6] This flowchart illustrates some of the processing steps involved in the response unit detection process. [Figure 7] This flowchart illustrates some of the other processing steps involved in the response detection process. [Figure 8] This is an explanatory diagram illustrating which mechanical operations of a construction machine are permitted or prohibited, depending on the detection area from which the response unit was detected among multiple detection areas. [Modes for carrying out the invention]

[0014] Embodiments to which this disclosure applies will be described below with reference to the drawings. Furthermore, the present disclosure is not limited to the following embodiments, and it is needless to say that various forms can be adopted as long as they belong to the technical scope of the present disclosure. [1. Embodiment] [1-1. Overall Configuration] As shown in FIG. 1, the on-site work system 1 of the present embodiment includes a construction machine 101, a portable response device 201, and a long response device 210.

[0015] The portable response device 201 is configured to be carried by the operator 203. The long response device 210 is formed in a long shape and is configured to be installed on a large fixed object. The large fixed object is, for example, a pillar of a building, a wall of a building, various devices installed at a construction site, etc.

[0016] The construction machine in the present disclosure is a machine used for civil engineering and construction work, and in particular, is a machine configured to perform a plurality of types of machine operations. Here, the machine operation refers to a machine operation for achieving an object related to civil engineering and construction. This machine operation may include the movement of the construction machine itself or may not include it.

[0017] The construction machine 101 is configured to perform a plurality of types of machine operations. The construction machine 101 includes a moving part 103, a slewing part 104, and a working mechanism part 105. The moving part 103 is configured to run the construction machine 101. The moving part 103 is configured to be capable of forward and backward running of the construction machine 101. The moving part 103 is configured with crawlers. The moving part 103 may be provided with tires instead of crawlers.

[0018] The slewing part 104 is disposed on the moving part 103. The slewing part 104 is configured to be able to slew right and left based on the moving part 103. The working mechanism 105 is positioned on the slewing section 104 and configured to perform work. The working mechanism 105 includes a boom 105a, an arm 105b, and an excavation bucket 105c (hereinafter also referred to as bucket 105c).

[0019] The boom 105a is configured to be supported by the slewing section 104 in a state that allows for raising and lowering movements. The arm 105b is configured to be supported by the boom 105a in a state that allows for extending and retracting movements. The excavation bucket 105c is configured to be supported by the arm 105b in a state that allows for extending and retracting movements.

[0020] The working mechanism 105 is configured to perform excavation work as a hydraulic excavator by hydraulically driving the boom 105a, arm 105b, and excavation bucket 105c. The working mechanism 105 is configured to be equipped with a hook (not shown) at the tip of the arm 105b instead of the excavation bucket 105c. By equipping the hook, the working mechanism 105 is configured to be used as a crane.

[0021] The field work system 1 is configured to restrict at least some of the mechanical operations of the construction machine 101 in response to at least one of the portable response device 201 and the long-range response device 210 entering a predetermined detection area 3. By restricting the mechanical operations in this way, it is possible to prevent the construction machine 101 from colliding with or coming into contact with workers 203, building columns and walls, various equipment installed at the construction site, etc. Note that the workers 203 referred to here refer to people who are outside the construction machine 101.

[0022] In Figure 1, the detection area 3 is schematically represented as a hemispherical shape. More specifically, as shown in Figure 4, the detection area 3 is composed of a first magnetic field region F1, a second magnetic field region F2, a third magnetic field region F3, and a fourth magnetic field region F4 (hereinafter also referred to as the first area F1, second area F2, third area F3, and fourth area F4, respectively).

[0023] [1-2. Construction Machinery] As shown in Figure 2, the construction machine 101 comprises a main control unit 10, a detection control unit 20, a plurality of intrusion detection units 21, an electromagnetic valve control unit 51, a rotation detection unit 117, and an alarm device 119.

[0024] The main control unit 10 is configured with a microcomputer that includes a CPU, RAM, or ROM (semiconductor memory), and the like. The main control unit 10 is configured to execute various control processes related to the mechanical operation of the construction machine 101. The main control unit 10 is configured to communicate with the detection control unit 20, the electromagnetic valve control unit 51, the rotation detection unit 117, and the alarm device 119. The various control processes executed by the main control unit 10 are realized by the CPU executing a program stored in a non-transitional physical recording medium. In this example, the semiconductor memory corresponds to the non-transitional physical recording medium that stores the program. The main control unit 10 may consist of one microcomputer or multiple microcomputers.

[0025] The construction machine 101 is equipped with operating levers, etc., although not shown in the illustration. The operating levers consist of multiple levers operated by the operator of the construction machine 101. The main control unit 10 is The system is configured to receive operation signals in response to the operator's operation of the control lever. The main control unit 10 is configured to transmit a command signal to the electromagnetic valve control unit 51 in response to receiving the operation signal. The electromagnetic valve control unit 51 is configured to control the mechanical operation of the construction machine 101 in response to receiving the command signal. Details of the electromagnetic valve control unit 51 will be described later.

[0026] The detection control unit 20 is configured with a microcomputer that includes a CPU, RAM, or ROM (semiconductor memory), and the like. The detection control unit 20 is configured to perform various control processes related to the detection of the portable response device 201 or the long response device 210 by the intrusion detection unit 21. The detection control unit 20 is configured to communicate with the main control unit 10 and the intrusion detection unit 21. The various control processes performed by the detection control unit 20 are realized by the CPU executing a program stored in a non-transitional tangible recording medium. In this example, the semiconductor memory corresponds to the non-transitional tangible recording medium that stores the program. The detection control unit 20 may consist of one microcomputer or multiple microcomputers.

[0027] The multiple intrusion detection units 21 include a first intrusion detection unit 21a, a second intrusion detection unit 21b, a third intrusion detection unit 21c, and a fourth intrusion detection unit 21d. Each of the first intrusion detection unit 21a, the second intrusion detection unit 21b, the third intrusion detection unit 21c, and the fourth intrusion detection unit 21d includes a magnetic field generating unit 22 and a receiving unit 23.

[0028] The magnetic field generating unit 22 is configured to generate a magnetic field region for detecting the portable response device 201 and the long-length response device 210. In other words, the magnetic field generating unit 22 is a magnetic field generating device. The magnetic field signal (electromagnetic wave) generated by the magnetic field generating unit 22 forms a magnetic field region around the construction machine 101. This magnetic field region corresponds to the detection area 3 shown in Figure 1. The detection area 3 shown in Figure 1 is the range in which a magnetic field of a predetermined strength or higher is generated. The predetermined strength is the magnetic field strength at which the response unit 25 can perform response control.

[0029] The receiving unit 23 is configured to receive a response signal Sr (in other words, a radio wave) output from the portable response device 201 (or long-length response device 210) placed in the magnetic field region. The receiving unit 23 is equipped with an antenna (not shown) for receiving the response signal Sr. The receiving unit 23 is configured to notify the detection control unit 20 in response to receiving the response signal Sr. In other words, the receiving unit 23 detects the intrusion of the portable response device 201 (or long-length response device 210) into the magnetic field region in response to receiving the response signal Sr.

[0030] In other words, the first intrusion detection unit 21a, the second intrusion detection unit 21b, the third intrusion detection unit 21c, and the fourth intrusion detection unit 21d are each configured to generate a magnetic field region and detect the intrusion of the portable response device 201 (or long-length response device 210) into the magnetic field region.

[0031] The rotation detection unit 117 is configured to detect the rotational position (in other words, the rotational position) of the swivel unit 104 with respect to the movable unit 103. More specifically, the rotation detection unit 117 detects the rotational position of the swivel unit 104 by detecting the relative position between the movable unit 103 and the swivel unit 104 in the direction of rotation of the swivel unit 104.

[0032] The rotation detection unit 117 is configured to output a rotation detection signal Sd indicating the result of detecting the rotation position of the rotation unit 104. The rotation detection unit 117 transmits the rotation detection signal Sd to the main control unit 10.

[0033] The alarm device 119 is configured to perform the following actions as an alarm: illuminating a light and outputting an audible signal. The alarm device 119 is located inside the operator's cab 107 of the construction machine 101. The driver's cab 107 is located in the slewing section 104 for the operator of the construction machine 101 to board.

[0034] Furthermore, the construction machine 101 is equipped with components that are commonly found in a well-known hydraulic excavator. These components include, for example, a drive unit such as an engine, various sensors, a slewing function unit, and electronic equipment. A detailed explanation of these components is omitted here.

[0035] [1-3. Portable answering device] As shown in Figure 1, the portable response device 201 is formed in a form that can be carried by the worker 203. The portable response device 201 is not limited to a specific form and can take various forms such as a box type, a rod type, or a card type.

[0036] The portable answering device 201 may be part of other equipment carried by the worker 203. The portable answering device 201 may also be configured to be detachable from the worker 203. For example, it may be detachably attached to clothing or a helmet, or it may be configured to be worn on the body like a wristwatch or armband.

[0037] As shown in Figure 2, the portable response device 201 comprises a response unit 25 and a light-emitting unit 26. The response unit 25 is equipped with an RFID tag (not shown). The response unit 25 has an antenna (not shown) that receives and transmits magnetic field signals. The response unit 25 is configured to perform response control in response to receiving a magnetic field signal output from the intrusion detection unit 21. In other words, the response unit 25 is configured to perform response control in response to intrusion into the magnetic field region (in other words, the detection area 3) formed by the intrusion detection unit 21.

[0038] When a worker 203 carrying a portable response device 201 enters the detection area 3, the portable response device 201 is positioned in the detection area 3. The response unit 25 receives a magnetic field signal output from the intrusion detection unit 21 and performs control to output a response signal Sr containing ID information via an antenna. This control by the response unit 25 is called response control. The response signal Sr containing ID information is received by the receiving unit 23 of the intrusion detection unit 21.

[0039] The RFID tag provided in the response unit 25 may be a passive tag, an active tag, or a semi-active tag. The light-emitting unit 26 is equipped with a lamp configured to switch between an illuminated state and an off state. The light-emitting unit 26 is configured to control the lamp to an off state when the response unit 25 has not received a magnetic field signal, and to control the lamp to an illuminated state in response to the response unit 25 receiving a magnetic field signal. In other words, the light-emitting unit 26 is configured to emit light in response to being placed in a magnetic field area. In this disclosure, "light emission" is a concept that includes not only a state in which monochromatic light is emitted continuously, but also a state in which monochromatic light is emitted while flashing, and a state in which light of multiple colors is emitted while changing colors.

[0040] In other words, the portable response device 201 is configured to output a response signal Sr containing ID information and to illuminate a lamp when a worker 203 carrying the portable response device 201 enters the detection area 3.

[0041] [1-4. Long-length response device] As shown in Figure 1, the elongated response device 210 is formed in an elongated shape. The elongated response device 210 is equipped with a plurality of response light-emitting units 210a. The plurality of response light-emitting units 210a are arranged at predetermined intervals along the longitudinal direction of the elongated response device 210. In Figure 1, an elongated response device 210 equipped with seven response light-emitting units 210a and an elongated response device equipped with six response light-emitting units 210a are shown. A scale response device 210 is shown in the diagram. The number of response light-emitting units 210a provided in the scale response device 210 is not limited to these numbers, and can be any number.

[0042] As shown in Figure 2, the response light-emitting unit 210a comprises a response unit 25 and a light-emitting unit 26. The response unit 25 and light-emitting unit 26 have the same configuration as the response unit 25 and light-emitting unit 26 provided in the portable response device 201.

[0043] In other words, the long-length response device 210 is configured to output a response signal Sr containing ID information and to illuminate a lamp when the long-length response device 210 enters the detection area 3 due to the movement of the construction machine 101.

[0044] Furthermore, the long-length response device 210 is configured such that only the response light-emitting units 210a that enter the detection area 3 emit light. This allows the long-length response device 210 to inform the operator of the construction machine 101 which part of the long-length response device 210 is closest to the construction machine 101, based on the position of the light emission.

[0045] [1-5. Electromagnetic Valve Control Unit] As shown in Figure 3, the electromagnetic valve control unit 51 comprises an electromagnetic valve control unit 53, a plurality of electromagnetic valves 57, and a plurality of actuators 115.

[0046] The electromagnetic valve control unit 53 is configured to transmit and receive various signals to and from the main control unit 10. The electromagnetic valve control unit 53 is configured to control each of the multiple electromagnetic valves 57 based on command signals from the main control unit 10. By controlling each of the multiple electromagnetic valves 57, the electromagnetic valve control unit 53 controls the mechanical operation of each of the multiple actuators 115.

[0047] Each of the multiple solenoid valves 57 is configured to switch between an ON state, which supplies hydraulic pressure from a hydraulic pump (not shown) to the multiple actuators 115, and an OFF state, which does not supply hydraulic pressure to the multiple actuators 115. Each of the multiple solenoid valves 57 is controlled to be either ON or OFF by the solenoid valve control unit 53.

[0048] Each of the multiple actuators 115 is configured to perform a predetermined mechanical operation when hydraulic pressure is supplied to it. The multiple solenoid valves 57 include a forward-travel solenoid valve 57a, a reverse-travel solenoid valve 57b, a bucket extension solenoid valve 57c, a bucket retraction solenoid valve 57d, a boom raising solenoid valve 57e, a boom lowering solenoid valve 57f, an arm extension solenoid valve 57g, an arm retraction solenoid valve 57h, a right-turn solenoid valve 57i, and a left-turn solenoid valve 57j.

[0049] The multiple actuators 115 include a first travel motor 115a, a second travel motor 115b, a bucket cylinder 115c, a boom cylinder 115d, an arm cylinder 115e, and a slewing motor 115f.

[0050] The forward-travel electromagnetic valve 57a turns ON based on a command signal from the electromagnetic valve control unit 53, supplying hydraulic pressure to the first travel motor 115a and controlling the mechanical operation of the first travel motor 115a to move the construction machine 101 forward. The forward-travel electromagnetic valve 57a turns OFF based on a command signal from the electromagnetic valve control unit 53, stopping the supply of hydraulic pressure to the first travel motor 115a and controlling the mechanical operation of the first travel motor 115a to stop.

[0051] The reverse travel electromagnetic valve 57b turns ON based on a command signal from the electromagnetic valve control unit 53, supplying hydraulic pressure to the second travel motor 115b and controlling the mechanical operation of the second travel motor 115b to reverse the construction machine 101. The reverse travel electromagnetic valve 57b turns OFF based on a command signal from the electromagnetic valve control unit 53, stopping the supply of hydraulic pressure to the second travel motor 115b and controlling the mechanical operation of the second travel motor 115b to stop it.

[0052] The bucket extension solenoid valve 57c turns ON based on a command signal from the solenoid valve control unit 53, supplying hydraulic pressure to the bucket cylinder 115c and controlling the mechanical operation of the bucket cylinder 115c so that the bucket 105c extends. The bucket retraction solenoid valve 57d turns ON based on a command signal from the solenoid valve control unit 53, supplying hydraulic pressure to the bucket cylinder 115c and controlling the mechanical operation of the bucket cylinder 115c so that the bucket 105c retracts.

[0053] The boom-raising electromagnetic valve 57e turns ON based on a command signal from the electromagnetic valve control unit 53, supplying hydraulic pressure to the boom cylinder 115d and controlling the mechanical operation of the boom cylinder 115d so that the boom 105a rises. The boom-lowering electromagnetic valve 57f turns ON based on a command signal from the electromagnetic valve control unit 53, supplying hydraulic pressure to the boom cylinder 115d and controlling the mechanical operation of the boom cylinder 115d so that the boom 105a lowers.

[0054] The arm extension solenoid valve 57g turns ON based on a command signal from the solenoid valve control unit 53, supplying hydraulic pressure to the arm cylinder 115e and controlling the mechanical operation of the boom cylinder 115d so that the arm 105b extends. The arm retraction solenoid valve 57h turns ON based on a command signal from the solenoid valve control unit 53, supplying hydraulic pressure to the arm cylinder 115e and controlling the mechanical operation of the arm cylinder 115e so that the arm 105b retracts.

[0055] The right-rotating solenoid valve 57i turns ON based on a command signal from the solenoid valve control unit 53, supplying hydraulic pressure to the swivel motor 115f and controlling the mechanical operation of the swivel motor 115f to rotate the swivel section 104 to the right. The left-rotating solenoid valve 57j turns ON based on a command signal from the solenoid valve control unit 53, supplying hydraulic pressure to the swivel motor 115f and controlling the mechanical operation of the swivel motor 115f to rotate the swivel section 104 to the left.

[0056] Thus, the electromagnetic valve control unit 51 is configured to control the mechanical operation of multiple actuators 115 (first travel motor 115a, second travel motor 115b, bucket cylinder 115c, boom cylinder 115d, arm cylinder 115e, and slewing motor 115f) based on command signals from the main control unit 10.

[0057] [1-6. Intrusion Detection Unit] As described above, the multiple intrusion detection units 21 include a first intrusion detection unit 21a, a second intrusion detection unit 21b, a third intrusion detection unit 21c, and a fourth intrusion detection unit 21d.

[0058] Here, Figure 4 shows the detection area 3 when the construction machine 101 is viewed from above. The detection area 3 comprises the first area F1, the second area F2, the third area F3, and the fourth area F4. The front side of the construction machine 101 corresponds to the upper side of Figure 4, the rear side of the construction machine 101 corresponds to the lower side of Figure 4, the right side of the construction machine 101 corresponds to the right side of Figure 4, and the left side of the construction machine 101 corresponds to the left side of Figure 4.

[0059] As shown in Figure 4, the first intrusion detection unit 21a, the second intrusion detection unit 21b, the third intrusion detection unit 21c, and the fourth intrusion detection unit 21d are each installed in different parts of the construction machine 101.

[0060] Specifically, the first intrusion detection unit 21a is located on the left side of the arm 105b of the construction machine 101. The second intrusion detection unit 21b is located on the right side of the arm 105b of the construction machine 101. The third intrusion detection unit 21c is located to the right rear of the slewing unit 104 of the construction machine 101. The fourth intrusion detection unit 21d is located to the left rear of the slewing unit 104 of the construction machine 101. In other words, the first intrusion detection unit 21a is located to the left front of the construction machine 101. The second intrusion detection unit 21b is located to the right front of the construction machine 101. The third intrusion detection unit 21c is located to the right rear of the construction machine 101. The fourth intrusion detection unit 21d is located to the left rear of the construction machine 101.

[0061] The first intrusion detection unit 21a forms the first area F1 of the detection area 3. The first area F1 is formed in the left front region of the construction machine 101. The second intrusion detection unit 21b forms the second area F2 of the detection area 3. The second area F2 is formed in the right front region of the construction machine 101. The third intrusion detection unit 21c forms the third area F3 of the detection area 3. The third area F3 is formed in the right rear region of the construction machine 101. The fourth intrusion detection unit 21d forms the fourth area F4 of the detection area 3. The fourth area F4 is formed in the left rear region of the construction machine 101.

[0062] The first intrusion detection unit 21a, the second intrusion detection unit 21b, the third intrusion detection unit 21c, and the fourth intrusion detection unit 21d are configured so that their respective operating states are set by the detection control unit 20 to either an ON state or an OFF state.

[0063] The ON state of the intrusion detection unit 21 indicates that it is capable of detecting the intrusion of the portable response device 201 and the long-length response device 210 into the detection area 3. Specifically, the ON state of the intrusion detection unit 21 indicates that the magnetic field generating unit 22 is generating a magnetic field area and the receiving unit 23 is capable of receiving the response signal Sr.

[0064] The OFF state of the intrusion detection unit 21 is a state in which the intrusion of the portable response device 201 and the long response device 210 into the detection area 3 is not detected. Specifically, the OFF state of the intrusion detection unit 21 is a state in which at least one of the following is true: the magnetic field generating unit 22 is not generating a magnetic field area, and the receiving unit 23 is not receiving the response signal Sr.

[0065] In other words, the detection control unit 20 is configured to individually set the operating state of the first intrusion detection unit 21a, the second intrusion detection unit 21b, the third intrusion detection unit 21c, and the fourth intrusion detection unit 21d to either the ON state or the OFF state.

[0066] For example, the detection control unit 20 can individually change the operating state of the first intrusion detection unit 21a, the second intrusion detection unit 21b, the third intrusion detection unit 21c, and the fourth intrusion detection unit 21d according to the content of the mechanical operation of the swivel unit 104.

[0067] Specifically, as shown in Figure 5, when the swivel unit 104 is swiveling to the right, the detection control unit 20 controls the first intrusion detection unit 21a and the third intrusion detection unit 21c to the OFF state, and controls the second intrusion detection unit 21b and the fourth intrusion detection unit 21d to the ON state. Conversely, when the swivel unit 104 is swiveling to the left, the detection control unit 20 controls the first intrusion detection unit 21a and the third intrusion detection unit 21c to the ON state, and controls the second intrusion detection unit 21b and the fourth intrusion detection unit 21d to the OFF state.

[0068] [1-7. Detection and Control Processing] The detection control process performed by the detection control unit 20 of the construction machine 101 will be explained using the flowcharts shown in Figures 6 and 7.

[0069] When the detection control unit 20 is activated in response to the start of the construction machine 101, it executes detection control processing. When the detection control unit 20 starts the detection control process, it first detects the rotation state of the swivel unit 104 at S110 (where S represents a step). Specifically, the detection control unit 20 receives information on the rotation state of the swivel unit 104, which is identified based on the rotation detection signal Sd from the rotation detection unit 117, from the main control unit 10, and detects the rotation state of the swivel unit 104.

[0070] In S120, the detection control unit 20 determines whether the rotation state of the rotation unit 104 corresponds to "right rotation," "left rotation," or "no rotation." If the determination result is "right rotation," the detection control unit 20 proceeds to S130; if it is "left rotation," it proceeds to S310; and if it is "no rotation," it proceeds to S110.

[0071] If "right turn" is determined in S120, the detection control unit 20 sets the operating state of the intrusion detection unit 21 in S130. Specifically, the detection control unit 20 controls the first intrusion detection unit 21a and the third intrusion detection unit 21c to the OFF state, and controls the second intrusion detection unit 21b and the fourth intrusion detection unit 21d to the ON state (see the upper diagram in Figure 5).

[0072] In S140, the detection control unit 20 determines whether the response unit 25 has entered the magnetic field region (in other words, the detection area 3). If the determination is positive, the unit proceeds to S150; if the determination is negative, the unit proceeds to S110.

[0073] The detection control unit 20 determines whether the response unit 25 has entered the magnetic field region based on the detection results from the intrusion detection unit 21. Specifically, when the portable response device 201 or the long response device 210 enters at least one of the second area F2 and the fourth area F4, at least one of the second intrusion detection unit 21b and the fourth intrusion detection unit 21d detects the intrusion of the response unit 25 into the magnetic field region. The detection results of the response unit 25 by the second intrusion detection unit 21b and the fourth intrusion detection unit 21d are transmitted to the detection control unit 20.

[0074] In S150, the detection control unit 20 determines whether the intrusion location of the response unit 25 is the second area F2 or the fourth area F4. If it determines that it is the second area F2, it proceeds to S160; if it determines that it is the fourth area F4, it proceeds to S170. Based on the detection results of the response unit 25 by the second intrusion detection unit 21b and the fourth intrusion detection unit 21d, the detection control unit 20 determines whether the intrusion location of the response unit 25 is the second area F2 or the fourth area F4. Specifically, if the second intrusion detection unit 21b detects the intrusion of the response unit 25, the detection control unit 20 determines that it has intruded into the second area F2; if the fourth intrusion detection unit 21d detects the intrusion of the response unit 25, it determines that it has intruded into the fourth area F4.

[0075] In S160, the detection control unit 20 performs a process to restrict the mechanical operation of the construction machine 101 in response to the intrusion of the response unit 25 into the second area F2. The detection control unit 20 then performs a process to transmit a mechanical operation restriction command Sa to the main control unit 10. The mechanical operation restriction command Sa is a command to specify which of the multiple electromagnetic valves 57 are permitted to operate and which are prohibited from operating.

[0076] Here, the correspondence between the detection area into which the response unit 25 has entered and the machine operation to be restricted will be explained using Figure 8. As shown in Figure 8, the detection area into which the response unit 25 entered is the first area F1, There are three areas: Area 2 F2, Area 3 F3, and Area 4 F4. The restricted machine operations include bucket extension, bucket retraction, arm extension, arm retraction, boom raising, boom lowering, right rotation, left rotation, forward travel, and reverse travel. In Figure 8, for each restricted machine operation in each detection area, permitted machine operations are indicated with a circle (○) and prohibited machine operations are indicated with an X (×).

[0077] In S160, the detection control unit 20 sets each machine operation to either allow or prohibit operation based on the restrictions of the second area F2 shown in Figure 8, in order to restrict machine operation in response to the intrusion of the response unit 25 into the second area F2. Specifically, in S160, the detection control unit 20 transmits a signal as a machine operation restriction command Sa which allows boom raising, left rotation, and reverse travel, and prohibits bucket extension, bucket retraction, arm extension, arm retraction, boom lowering, right rotation, and forward travel.

[0078] The detection control unit 20 further executes control in S160 to cause the alarm device 119 to perform an alarm operation. The alarm operation by the alarm device 119 can alert workers and operators of the construction machinery 101 to danger.

[0079] When the detection control unit 20 transmits a machine operation restriction command Sa to the main control unit 10, the main control unit 10 performs processing to restrict the machine operation of the construction machine 101 according to the content of the machine operation restriction command Sa. At this time, the main control unit 10 transmits a command to the electromagnetic valve control unit 51 to set each of the multiple electromagnetic valves 57 to an operation permitted state or an operation prohibited state according to the machine operation restriction command Sa.

[0080] As a result, in the electromagnetic valve control unit 51, the electromagnetic valve control unit 53 executes the mechanical operation of the actuator 115 corresponding to the command for the electromagnetic valve 57 that has been set to the operation permission state among the multiple electromagnetic valves 57, in response to a command from the operator. On the other hand, even if the electromagnetic valve control unit 53 receives a command from the operator, it does not execute the mechanical operation of the actuator 115 corresponding to the command for the electromagnetic valve 57 that has been set to the operation prohibition state among the multiple electromagnetic valves 57.

[0081] In S170, the detection control unit 20 performs a process to restrict the mechanical operation of the construction machine 101 in response to the intrusion of the response unit 25 into the fourth area F4. The detection control unit 20 then performs a process to transmit a mechanical operation restriction command Sa to the main control unit 10 in response to the intrusion into the fourth area F4.

[0082] In S170, the detection control unit 20 sets each machine operation to either allow or prohibit operation based on the restrictions of the fourth area F4 shown in Figure 8, in order to restrict machine operation in response to the intrusion of the response unit 25 into the fourth area F4. Specifically, in S170, the detection control unit 20 transmits a signal as a machine operation restriction command Sa which allows bucket extension, bucket retraction, arm extension, arm retraction, boom raising, boom lowering, left rotation, and forward travel, and prohibits right rotation and reverse travel.

[0083] The detection control unit 20 further executes control in S170 to cause the alarm device 119 to perform an alarm action. The alarm action by the alarm device 119 can alert workers and operators of the construction machinery 101 to danger.

[0084] When the detection control unit 20 completes S160 or S170 and proceeds to S180, it determines in S180 whether the restriction release condition has been met. If it has been met (YES determination), it proceeds to S190; otherwise, it repeatedly executes the process in S180. The restriction release condition is met when the response unit 25 that entered the magnetic field region leaves the magnetic field region, or when the mechanical operation being performed by the construction machine 101 is stopped.

[0085] On the other hand, if "left turn" is determined in S120, the detection control unit 20 sets the operating state of the intrusion detection unit 21 in S310, as shown in Figure 7. Specifically, the detection control unit 20 controls the first intrusion detection unit 21a and the third intrusion detection unit 21c to the ON state, and controls the second intrusion detection unit 21b and the fourth intrusion detection unit 21d to the OFF state (see the lower diagram in Figure 5).

[0086] In S320, the detection control unit 20 determines whether the response unit 25 has entered the magnetic field region (in other words, the detection area 3). If the determination is positive, the unit proceeds to S330; if the determination is negative, the unit proceeds to S110.

[0087] The detection control unit 20 determines whether the response unit 25 has entered the magnetic field region based on the detection results from the intrusion detection unit 21. Specifically, when the portable response device 201 or the long-length response device 210 enters at least one of the first area F1 and the third area F3, at least one of the first intrusion detection unit 21a and the third intrusion detection unit 21c detects the intrusion of the response unit 25 into the magnetic field region. The detection results of the response unit 25 by the first intrusion detection unit 21a and the third intrusion detection unit 21c are transmitted to the detection control unit 20.

[0088] In S330, the detection control unit 20 determines whether the intrusion location of the response unit 25 is the first area F1 or the third area F3. If it determines that it is the first area F1, it proceeds to S340; if it determines that it is the third area F3, it proceeds to S350. Based on the detection results of the response unit 25 by the first intrusion detection unit 21a and the third intrusion detection unit 21c, the detection control unit 20 determines whether the intrusion location of the response unit 25 is the first area F1 or the third area F3. Specifically, if the first intrusion detection unit 21a detects the intrusion of the response unit 25, the detection control unit 20 determines that it has intruded into the first area F1; if the third intrusion detection unit 21c detects the intrusion of the response unit 25, it determines that it has intruded into the third area F3.

[0089] In S340, the detection control unit 20 performs a process to restrict the mechanical operation of the construction machine 101 in response to the intrusion of the response unit 25 into the first area F1. The detection control unit 20 then performs a process to transmit a mechanical operation restriction command Sa to the main control unit 10 in response to the intrusion into the first area F1.

[0090] In S340, the detection control unit 20 sets each machine operation to either allow or prohibit operation based on the restrictions of the first area F1 shown in Figure 8, in order to restrict machine operation in response to the intrusion of the response unit 25 into the first area F1. Specifically, in S340, the detection control unit 20 transmits a signal as a machine operation restriction command Sa which allows boom raising, right rotation, and reverse travel, and prohibits bucket extension, bucket retraction, arm extension, arm retraction, boom lowering, left rotation, and forward travel.

[0091] The detection control unit 20 further executes control in S340 to cause the alarm device 119 to perform an alarm action. The alarm action by the alarm device 119 can alert workers and operators of the construction machinery 101 to danger.

[0092] In S350, the detection control unit 20 performs a process to restrict the mechanical operation of the construction machine 101 in response to the intrusion of the response unit 25 into the third area F3. The detection control unit 20 then performs a process to transmit a mechanical operation restriction command Sa to the main control unit 10 in response to the intrusion into the third area F3.

[0093] In S350, the detection control unit 20 sets each machine operation to either allow or prohibit operation based on the restriction content of the third area F3 in Figure 8, in order to restrict machine operation in response to the intrusion of the response unit 25 into the third area F3. Specifically, in S340, the detection control unit 20 sets the machine operation restriction command Sa to bucket extension, bucket retraction, arm extension, and arm extension. The system transmits a signal that permits the following actions: boom retraction, boom raising, boom lowering, right rotation, and forward movement, while prohibiting left rotation and reverse movement.

[0094] The detection control unit 20 further executes control in S350 to cause the alarm device 119 to perform an alarm operation. The alarm operation by the alarm device 119 can alert workers and operators of the construction machinery 101 to danger.

[0095] When the detection control unit 20 completes S340 or S350 and proceeds to S360, in S3600 it determines whether the restriction release condition has been met. If it has been met (YES determination), it proceeds to S190; otherwise, it repeatedly executes the process in S360. The restriction release condition is met in the same way as in S180, when the response unit 25 that entered the magnetic field region leaves the magnetic field region, or when the mechanical operation being performed by the construction machine 101 is stopped.

[0096] If a positive determination is made in S180 or S360, the detection control unit 20 performs a process in S190 to release the restrictions on the operation of the construction machine 101. The detection control unit 20 then sends a restriction release command Sb to the main control unit 10. The restriction release command Sb is a command to allow operation for all of the electromagnetic valves 57.

[0097] Upon receiving the restriction release command Sb, the main control unit 10 performs a process to release the restriction on the operation of the construction machine 101. At this time, the main control unit 10 sends a command to the electromagnetic valve control unit 51 to set all of the electromagnetic valves 57 to an operation-permitted state.

[0098] As a result, in the electromagnetic valve control unit 51, the electromagnetic valve control unit 53 executes the mechanical operation of the actuator 115 corresponding to the command for all of the multiple electromagnetic valves 57 in response to a command from the operator.

[0099] The detection control unit 20 further executes a control in S190 to stop the alarm operation of the alarm device 119. In S200, the detection control unit 20 stops the operation of the intrusion detection unit 21 by setting its operating state to the OFF state. Specifically, the detection control unit 20 controls all of the intrusion detection units 21 (first intrusion detection unit 21a, second intrusion detection unit 21b, third intrusion detection unit 21c, and fourth intrusion detection unit 21d) to the OFF state.

[0100] In S210, the detection control unit 20 determines whether or not the operator's actions are continuing. If it determines that the operation is continuing, it proceeds to S110; if it determines that the operation is not continuing, it terminates this process.

[0101] As described above, the detection control unit 20 is configured to restrict at least some of the multiple types of machine operations in the construction machine 101 (S160, S170, S340, S350) in response to the detection of intrusion of the response unit 25 by at least one of the multiple intrusion detection units 21 (first intrusion detection unit 21a to fourth intrusion detection unit 21d) (affirmative determination in S140 or S320).

[0102] The detection control unit 20 sets the operating state of each of the multiple intrusion detection units 21 to either the ON state or the OFF state (S130, S310) depending on the type of machine operation being performed by the construction machine 101 (S120, right turn, left turn).

[0103] [1-8. Effects] According to the embodiments described in detail above, the following effects can be obtained. The field work system 1 of this embodiment does not have a configuration that sets all of the multiple intrusion detection units 21 to the ON state at once when detecting the presence or absence of the response unit 25 that has entered the magnetic field area (in other words, the detection area 3). Rather, the field work system 1 sets the operating state of each of the multiple intrusion detection units 21 to either the ON state or the OFF state (S130, S310) according to the type of machine operation being performed by the construction machine 101 (S120, right turn, left turn). Such a field work system 1 can form magnetic field areas (first area F1, second area F2, third area F3, fourth area F4) at the necessary locations around the construction machine 101 according to the type of machine operation.

[0104] In other words, the field work system 1 does not generate magnetic field regions in locations where the need for detection by the response unit 25 is low, and generates magnetic field regions in locations where the need for detection by the response unit 25 is high, depending on the type of mechanical operation being performed by the construction machine 101. As a result, the field work system 1 can form magnetic field regions (first area F1, second area F2, third area F3, fourth area F4) in appropriate locations depending on the type of mechanical operation being performed by the construction machine 101.

[0105] Therefore, the field work system 1 can suppress false detections (in other words, false detections due to the overlap of different magnetic fields in adjacent magnetic field regions) in the intrusion detection unit 21 that is in the ON state among the multiple intrusion detection units 21, depending on the type of machine operation being performed by the construction machine 101. As a result, the field work system 1 can appropriately detect the response unit 25.

[0106] Next, in the field work system 1, the detection control unit 20 is configured to set the multiple intrusion detection units 21 to at least a first setting state C1 or a second setting state C2. The first setting state C1 is a state in which the first intrusion detection unit 21a and the third intrusion detection unit 21c are set to the OFF state, and the second intrusion detection unit 21b and the fourth intrusion detection unit 21d are set to the ON state (S130). The second setting state C2 is a state in which the first intrusion detection unit 21a and the third intrusion detection unit 21c are set to the ON state, and the second intrusion detection unit 21b and the fourth intrusion detection unit 21d are set to the OFF state (S310).

[0107] In the field work system 1, the detection control unit 20 can create magnetic field regions (second magnetic field region F2, fourth magnetic field region F4) on the right front and left rear of the construction machine 101 by setting the four intrusion detection units 21 to the first setting state C1. Furthermore, the detection control unit 20 can create magnetic field regions (first magnetic field region F1, third magnetic field region F3) on the left front and right rear of the construction machine 101 by setting the four intrusion detection units 21 to the second setting state C2.

[0108] Next, in the field work system 1, the detection control unit 20 determines that the construction machine 101 is performing a right turn of the slewing unit 104 (determined as "right turn" in S120) and sets the multiple intrusion detection units 21 to the first setting state C1 (S130). The detection control unit 20 determines that the construction machine 101 is performing a left turn of the slewing unit 104 (determined as "left turn" in S120) and sets the multiple intrusion detection units 21 to the second setting state C2 (S310).

[0109] In other words, the field work system 1 sets the four intrusion detection units 21 to either the first setting state C1 or the second setting state C2, depending on whether the slewing section 104 of the construction machine 101 is slewing left or right.

[0110] As a result, the field work system 1 can form a magnetic field area in an appropriate position by setting the four intrusion detection units 21 to either the first setting state C1 or the second setting state C2, depending on the type of machine operation being performed by the construction machine 101 (whether the slewing unit 104 is slewing left or right).

[0111] Next, in the field work system 1, the detection control unit 20 is configured such that the type of machine operation to be restricted differs depending on which of the multiple intrusion detection units 21 (first intrusion detection unit 21a to fourth intrusion detection unit 21d) the response unit 25 detects intrusion from. Specifically, as shown in Figure 8, for each of the first intrusion detection units 21a to fourth intrusion detection units 21d, the machine operations of the construction machine 101 that are permitted or prohibited are set.

[0112] In this field work system 1, a construction machine 101 equipped with a work mechanism 105, the detection control unit 20 specifies the machine operation to be restricted according to the intrusion detection unit 21 that has detected intrusion by the response unit 25 among the multiple intrusion detection units 21.

[0113] As a result, the field work system 1 can properly detect the response unit 25 around the construction machine 101, thereby preventing the construction machine 101 from colliding with people or objects. Next, in the field work system 1, the first intrusion detection unit 21a is installed on the left side of the work mechanism unit 105, and the second intrusion detection unit 21b is installed on the right side of the work mechanism unit 105. By installing the first intrusion detection unit 21a and the second intrusion detection unit 21b on the work mechanism unit 105, this field work system 1 can suppress collisions between the work mechanism unit 105 and people or objects.

[0114] Furthermore, in the field work system 1, the third intrusion detection unit 21c is installed to the right rear of the swivel unit 104, and the fourth intrusion detection unit 21d is installed to the left rear of the swivel unit 104. By installing the third intrusion detection unit 21c and the fourth intrusion detection unit 21d behind the swivel unit 104, the field work system 1 can suppress collisions between the rear part of the swivel unit 104 and people or objects.

[0115] Next, in the field work system 1, the detection control unit 20 is configured to release the restriction on machine operation when the restriction release condition is met (affirmative determination in S180 or S360). The restriction release condition is met when the response unit 25 that entered the magnetic field region leaves the magnetic field region, or when the machine operation being performed by the construction machine 101 is stopped.

[0116] This field work system 1, when the restriction release conditions are met, releases the restrictions on machine operation, thereby enabling various tasks to be performed by the machine operation of the construction machine 101. Next, in the field work system 1, the portable response device 201 comprises a response unit 25 and a light-emitting unit 26. In other words, the response unit 25 comprises a light-emitting unit 26 configured to emit light in response to being placed in a magnetic field region.

[0117] In this way, the response unit 25 is equipped with a light-emitting unit 26, so that the worker carrying the response unit 25 can recognize that they have entered the magnetic field area by the light emitted by the light-emitting unit 26. In addition, the operator of the construction machine 101 can determine which worker has entered the magnetic field area by the light emitted by the light-emitting unit 26.

[0118] Next, in the field work system 1, the long response device 210 is formed in a long shape and includes a plurality of response light-emitting units 210a (in other words, a plurality of response units 25 and a plurality of light-emitting units 26).

[0119] By using such a long response device 210, the workload of installing multiple response units 25 on large fixed objects can be reduced. Furthermore, as multiple light-emitting units 26 illuminate individually depending on their position within the magnetic field, the operator of the construction machine 101 can determine which part of the large fixed object is entering the magnetic field.

[0120] [1-9. Correspondence of Terms] Field work system 1 corresponds to an example of a control system in this disclosure. The detection control unit 20 that executes S160, S170, S180, S340, S350, and S360 corresponds to an example of an operation limiting unit in this disclosure. The long response device 210 corresponds to an example of a long response unit in this disclosure.

[0121] [2. Other Embodiments] While embodiments of this disclosure have been described above, it goes without saying that this disclosure is not limited to the embodiments described above and can take various forms as long as they fall within the technical scope of this disclosure.

[0122] (2A) In the above embodiment, a construction machine 101 capable of performing the functions of a hydraulic excavator and a crane was given as an example of a construction machine. However, the technology of this disclosure may be applied to construction machines other than the construction machine 101 described above, as long as they are configured to perform at least several types of mechanical operations. For example, in addition to excavators and cranes, bulldozers, scrapers, loaders, transport machines, material handling machines, foundation work machines, drilling machines, paving machines, concrete machines, etc., are examples of construction machines. The technology of this disclosure may be applied when these are configured to perform several types of mechanical operations.

[0123] (2B) In the above embodiment, an embodiment was described in which the signal generated by the intrusion detection unit 21 (more specifically, the magnetic field generating unit 22) is a magnetic field signal. However, the signal generated by the intrusion detection unit is not limited to this form. For example, the signal generated by the intrusion detection unit may be a signal using radio waves, visible light, infrared rays, ultraviolet rays, ultrasound, etc.

[0124] Furthermore, although the above embodiment described an embodiment in which the response signal Sr output from the response unit 25 is a radio wave, the response signal is not limited to this form. For example, the response signal may be a signal utilizing visible light, infrared rays, ultraviolet rays, ultrasound, etc.

[0125] (2C) In the above embodiment, the number of intrusion detection units installed on the construction machine is not limited to four as shown in the above embodiment, but may be any other number. For example, the number of intrusion detection units installed on the construction machine may be two, three, or five or more.

[0126] (2D) In ​​the above embodiment, the installation positions of each of the multiple intrusion detection units installed on the construction machine are not limited to the positions shown in the above embodiment, but may be in other positions. For example, the intrusion detection units may be installed on the boom and the bucket. Furthermore, the intrusion detection units may be installed on the right side and / or left side of the slewing unit.

[0127] (2E) Multiple functions of one component in the above embodiment may be realized by multiple components, or one function of one component may be realized by multiple components. Also, multiple functions of multiple components may be realized by one component, or one function realized by multiple components may be realized by one component. Furthermore, some of the configurations of the above embodiment may be omitted. Furthermore, at least some of the configurations of the above embodiment may be added to or replaced with the configurations of other above embodiments. [Technical concepts disclosed in this specification] [Item 1] A response unit configured to output a response signal in response to being placed in a magnetic field region, A magnetic field region is generated for detecting the response unit, and the response unit is placed in the magnetic field region. A plurality of intrusion detection units configured to detect the intrusion of the response unit into the magnetic field region in response to receiving the response signal of the response unit, the plurality of intrusion detection units installed on a construction machine that performs multiple types of mechanical operations, A detection control unit configured to set the operating state of each of the plurality of intrusion detection units to either an ON state in which intrusion of the response unit can be detected, or an OFF state in which intrusion of the response unit cannot be detected, An operation limiting unit configured to restrict at least some of the multiple types of machine operations in the construction machine in response to at least one of the multiple intrusion detection units detecting intrusion in the response unit, A control system comprising, Each of the multiple intrusion detection units is installed in a different part of the construction machine. The detection control unit sets the operating state of each of the multiple intrusion detection units to either the ON state or the OFF state, depending on the type of machine operation being performed by the construction machine. Control system.

[0128] [Item 2] The control system described in item 1, The plurality of intrusion detection units are, The first intrusion detection unit is positioned to the left front of the construction machine, A second intrusion detection unit is positioned to the right front of the aforementioned construction machine, A third intrusion detection unit is located to the right rear of the aforementioned construction machine, A fourth intrusion detection unit is located at the left rear of the aforementioned construction machine, Equipped with, The detection control unit is configured to set the plurality of intrusion detection units to at least a first setting state or a second setting state. The first setting state is a state in which the first intrusion detection unit and the third intrusion detection unit are set to the OFF state, and the second intrusion detection unit and the fourth intrusion detection unit are set to the ON state. The second setting state is one in which the first intrusion detection unit and the third intrusion detection unit are set to the ON state, and the second intrusion detection unit and the fourth intrusion detection unit are set to the OFF state. Control system.

[0129] [Item 3] A control system as described in item 1 or item 2, The aforementioned construction machine, A mobile unit configured to move the aforementioned construction machine, A rotating section is positioned on the aforementioned moving section and configured to be able to rotate to the right and to the left, It is equipped with, The detection control unit, In response to the construction machine performing a rightward rotation of the slewing section, the plurality of intrusion detection units are set to the first setting state. Depending on whether the construction machine is performing a left turn of the slewing section, the plurality of intrusion detection units are set to the second setting state. Control system.

[0130] [Item 4] A control system described in any one of items 1 to 3, The aforementioned construction machine, A work mechanism configured to perform work and positioned in the aforementioned swivel section. Equipped with, The aforementioned working mechanism is A boom supported by the slewing section in a state that allows for raising and lowering movements, An arm supported by the boom in a state that allows for extension and retraction, A bucket supported by the arm in a state that allows for extension and retraction, Equipped with, The aforementioned mobile unit is configured to be able to move forward and backward. The aforementioned operation limiting unit is When the plurality of intrusion detection units are set to the first setting state, and the second intrusion detection unit detects intrusion into the response unit, the extension movement of the bucket, the retraction movement of the bucket, the extension movement of the arm, the retraction movement of the arm, the lowering movement of the boom, the rightward rotation of the slewing unit, and the forward movement of the moving unit are restricted. When the plurality of intrusion detection units are set to the first setting state, and the fourth intrusion detection unit detects the intrusion of the response unit, the rightward rotation of the swivel unit and the backward movement of the moving unit are restricted. When the plurality of intrusion detection units are set to the second setting state, and the first intrusion detection unit detects intrusion into the response unit, the extension movement of the bucket, the retraction movement of the bucket, the extension movement of the arm, the retraction movement of the arm, the lowering movement of the boom, the left rotation of the slewing unit, and the forward movement of the moving unit are restricted. When the plurality of intrusion detection units are set to the second setting state, and the third intrusion detection unit detects the intrusion of the response unit, the left turn of the swivel unit and the reverse movement of the moving unit are restricted. Control system.

[0131] [Item 5] A control system described in any one of items 1 to 4, The first intrusion detection unit is installed on the left side of the work mechanism unit, The second intrusion detection unit is installed on the right side of the work mechanism unit, The third intrusion detection unit is installed to the right rear of the rotating unit, The fourth intrusion detection unit is located to the left rear of the rotating unit. Control system.

[0132] [Item 6] A control system described in any one of items 1 to 5, The operation limiting unit is configured to release the restriction on the machine operation when the restriction release condition is met. The aforementioned restriction release condition is met when the response unit that entered the magnetic field region leaves the magnetic field region, or when the mechanical operation being performed by the construction machine is stopped. Control system.

[0133] [Item 7] A control system described in any one of items 1 through 6, The response unit includes a light-emitting unit configured to emit light in response to being placed in the magnetic field region. Control system.

[0134] [Item 8] A control system described in any one of items 1 through 7, The system includes a long response section, which is provided with multiple response sections and is formed in an elongated shape. Control system. [Explanation of Symbols]

[0135] 1...Field work system, 3...Detection area, 10...Main control unit, 20...Detection control unit, 21...Intrusion detection unit, 21a...First intrusion detection unit, 21b...Second intrusion detection unit, 21c...Third intrusion detection unit, 21d...Fourth intrusion detection unit, 22...Magnetic field generation unit, 23...Receiver unit, 25...Response unit, 26...Light emission unit, 51...Solenoid valve control unit, 53...Solenoid valve control unit, 57...Solenoid valve, 101...Construction machine, 103...Mobile unit, 104 ...Swivel section, 105...Work mechanism section, 105a...Boom, 105b...Arm, 105c...Excavation bucket, 115...Actuator, 117...Rotation detection section, 119...Warning device, 201...Portable response device, 210...Long-range response device, 210a...Response light emission section, F1...First magnetic field region (first area), F2...Second magnetic field region (second area), F3...Third magnetic field region (third area), F4...Fourth magnetic field region (fourth area).

Claims

1. A response unit configured to output a response signal in response to being placed in a magnetic field region, A plurality of intrusion detection units configured to generate a magnetic field region for detecting the response unit, and to detect the intrusion of the response unit into the magnetic field region in response to receiving the response signal of the response unit placed in the magnetic field region, wherein the plurality of intrusion detection units are installed on a construction machine that performs multiple types of mechanical operations, A detection control unit configured to set the operating state of each of the plurality of intrusion detection units to either an ON state in which intrusion of the response unit can be detected, or an OFF state in which intrusion of the response unit cannot be detected, An operation limiting unit configured to restrict at least some of the multiple types of machine operations in the construction machine in response to at least one of the multiple intrusion detection units detecting intrusion in the response unit, A control system comprising, Each of the multiple intrusion detection units is installed in a different part of the construction machine. The detection control unit sets the operating state of each of the multiple intrusion detection units to either the ON state or the OFF state, depending on the type of machine operation being performed by the construction machine. Control system.

2. A control system according to claim 1, The plurality of intrusion detection units are, The first intrusion detection unit is positioned to the left front of the construction machine, A second intrusion detection unit is positioned to the right front of the aforementioned construction machine, A third intrusion detection unit is located to the right rear of the aforementioned construction machine, A fourth intrusion detection unit is located at the left rear of the aforementioned construction machine, Equipped with, The detection control unit is configured to set the plurality of intrusion detection units to at least a first setting state or a second setting state. The first setting state is a state in which the first intrusion detection unit and the third intrusion detection unit are set to the OFF state, and the second intrusion detection unit and the fourth intrusion detection unit are set to the ON state. The second setting state is one in which the first intrusion detection unit and the third intrusion detection unit are set to the ON state, and the second intrusion detection unit and the fourth intrusion detection unit are set to the OFF state. Control system.

3. A control system according to claim 2, The aforementioned construction machine, A mobile unit configured to move the aforementioned construction machine, A rotating section is positioned on the aforementioned moving section and configured to be able to rotate to the right and to the left, It is equipped with, The detection control unit, In response to the construction machine performing a rightward rotation of the slewing section, the plurality of intrusion detection units are set to the first set state. In response to the construction machine performing a leftward rotation of the slewing section, the plurality of intrusion detection units are set to the second setting state. Control system.

4. A control system according to claim 3, The aforementioned construction machine, A work mechanism configured to perform work and positioned in the aforementioned swivel section. Equipped with, The aforementioned working mechanism is A boom supported by the slewing section in a state that allows for raising and lowering movements, An arm supported by the boom in a state that allows for extension and retraction, A bucket supported by the arm in a state that allows for extension and retraction, Equipped with, The aforementioned mobile unit is configured to be able to move forward and backward. The aforementioned operation limiting unit is When the plurality of intrusion detection units are set to the first setting state, and the second intrusion detection unit detects intrusion into the response unit, the extension movement of the bucket, the retraction movement of the bucket, the extension movement of the arm, the retraction movement of the arm, the lowering movement of the boom, the rightward rotation of the slewing unit, and the forward movement of the moving unit are restricted. When the plurality of intrusion detection units are set to the first setting state, and the fourth intrusion detection unit detects the intrusion of the response unit, the rightward rotation of the swivel unit and the backward movement of the moving unit are restricted. When the plurality of intrusion detection units are set to the second setting state, and the first intrusion detection unit detects intrusion into the response unit, the extension movement of the bucket, the retraction movement of the bucket, the extension movement of the arm, the retraction movement of the arm, the lowering movement of the boom, the left rotation of the slewing unit, and the forward movement of the moving unit are restricted. When the plurality of intrusion detection units are set to the second setting state, and the third intrusion detection unit detects the intrusion of the response unit, the left turn of the swivel unit and the reverse movement of the moving unit are restricted. Control system.

5. A control system according to claim 4, The first intrusion detection unit is installed on the left side of the work mechanism unit, The second intrusion detection unit is installed on the right side of the work mechanism unit, The third intrusion detection unit is installed to the right rear of the rotating unit, The fourth intrusion detection unit is located to the left rear of the rotating unit. Control system.

6. A control system according to claim 5, The operation limiting unit is configured to release the restriction on the machine operation when the restriction release condition is met. The aforementioned restriction release condition is met when the response unit that entered the magnetic field region leaves the magnetic field region, or when the mechanical operation being performed by the construction machine is stopped. Control system.

7. A control system according to claim 6, The response unit includes a light-emitting unit configured to emit light in response to being placed in the magnetic field region. Control system.

8. A control system according to claim 7, The system includes a long response section, which is provided with multiple response sections and is formed in an elongated shape. Control system.

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